mirror of https://github.com/ArduPilot/ardupilot
122 lines
3.8 KiB
Plaintext
122 lines
3.8 KiB
Plaintext
/*
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* Example of DataFlash library.
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* Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
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*/
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// Libraries
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <SPI.h> // Arduino SPI lib
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#include <AP_Semaphore.h> // Required by DataFlash library
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#include <DataFlash.h>
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////////////////////////////////////////////////////////////////////////////////
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// Serial ports
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////////////////////////////////////////////////////////////////////////////////
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//
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// Note that FastSerial port buffers are allocated at ::begin time,
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// so there is not much of a penalty to defining ports that we don't
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// use.
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//
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FastSerialPort0(Serial); // FTDI/console
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#define HEAD_BYTE1 0xA3
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#define HEAD_BYTE2 0x95
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// NOTE: You must uncomment one of the following two lines
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DataFlash_APM2 DataFlash; // Uncomment this line if using APM2 hardware
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//DataFlash_APM1 DataFlash; // Uncomment this line if using APM1 hardware
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void setup()
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{
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Serial.begin(115200);
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DataFlash.Init(); // DataFlash initialization
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Serial.println("Dataflash Log Test 1.0");
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// Test
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delay(20);
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DataFlash.ReadManufacturerID();
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delay(10);
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Serial.print("Manufacturer:");
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Serial.print(int(DataFlash.df_manufacturer));
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Serial.print(",");
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Serial.print(DataFlash.df_device);
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Serial.println();
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// We start to write some info (sequentialy) starting from page 1
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// This is similar to what we will do...
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DataFlash.StartWrite(1);
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Serial.println("After testing perform erase before using DataFlash for logging!");
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Serial.println("");
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Serial.println("Writing to flash... wait...");
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for (int i = 0; i < 1000; i++) { // Write 1000 packets...
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// We write packets of binary data... (without worry about nothing more)
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteInt(2000 + i);
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DataFlash.WriteInt(2001 + i);
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DataFlash.WriteInt(2002 + i);
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DataFlash.WriteInt(2003 + i);
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DataFlash.WriteLong((long)i * 5000);
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DataFlash.WriteLong((long)i * 16268);
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DataFlash.WriteByte(0xA2); // 2 bytes of checksum (example)
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DataFlash.WriteByte(0x4E);
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delay(10);
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}
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delay(100);
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}
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void loop()
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{
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int i, tmp_int;
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byte tmp_byte1, tmp_byte2;
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long tmp_long;
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Serial.println("Start reading page 1...");
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DataFlash.StartRead(1); // We start reading from page 1
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for (i = 0; i < 200; i++) { // Read 200 packets...
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tmp_byte1 = DataFlash.ReadByte();
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tmp_byte2 = DataFlash.ReadByte();
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Serial.print("PACKET:");
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if ((tmp_byte1 == HEAD_BYTE1) && (tmp_byte1 == HEAD_BYTE1)) {
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// Read 4 ints...
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tmp_int = DataFlash.ReadInt();
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Serial.print(tmp_int);
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Serial.print(",");
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tmp_int = DataFlash.ReadInt();
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Serial.print(tmp_int);
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Serial.print(",");
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tmp_int = DataFlash.ReadInt();
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Serial.print(tmp_int);
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Serial.print(",");
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tmp_int = DataFlash.ReadInt();
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Serial.print(tmp_int);
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Serial.print(",");
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// Read 2 longs...
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tmp_long = DataFlash.ReadLong();
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Serial.print(tmp_long);
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Serial.print(",");
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tmp_long = DataFlash.ReadLong();
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Serial.print(tmp_long);
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Serial.print(";");
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// Read the checksum...
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tmp_byte1 = DataFlash.ReadByte();
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tmp_byte2 = DataFlash.ReadByte();
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}
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Serial.println();
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}
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Serial.println("");
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Serial.println("Test complete. Test will repeat in 20 seconds");
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Serial.println("");
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delay(20000);
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} |